Cylindrical Terrain Classification Using a Compliant Robot Foot with a Flexible Tactile-Array Sensor for Legged Robots

Pongsiri Borijindakul*, Noparit Jinuntuya, Alin Drimus, Poramate Manoonpong

*Kontaktforfatter for dette arbejde

Publikation: Bidrag til bog/antologi/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

In this paper, we present a new approach that uses a combination of a compliant robot foot with a flexible tactile-array sensor to classify different types of cylindrical terrains. The foot and sensor were installed on a robot leg. Due to their compliance and flexibility, they can passively adapt their shape to the terrains and simultaneously provide pressure feedback during walking. We applied two different methods, which are average and maximum value methods, to classify the terrains based on the feedback information. To test the approach, We performed two experimental conditions which are (1) different diameters and different materials and (2) different materials with the same cylindrical diameter. In total, we use here eleven cylindrical terrains with different diameters and materials (i.e., a 8.2-cm diameter PVC cylinder, a 7.5-cm diameter PVC cylinder, a 5.5-cm diameter PVC cylinder, a 4.4-cm diameter PVC cylinder, a 7.5-cm diameter hard paper cylinder, a 7.4-cm diameter hard paper cylinder, a 5.5-cm diameter hard paper cylinder, a 20-cm diameter sponge cylinder, a 15-cm diameter sponge cylinder, a 7.5-cm diameter sponge cylinder, and a 5.5-cm diameter sponge cylinder). The experimental results show that we can successfully classify all terrains for the maximum value method. This approach can be applied to allow a legged robot to not only walk on cylindrical terrains but also recognize the terrain feature. It thereby extends the operational range the robot towards cylinder/pipeline inspection.

OriginalsprogEngelsk
TitelFrom Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings
ForlagSpringer VS
Publikationsdato2018
Sider136-146
ISBN (Trykt)978-3-319-97627-3
ISBN (Elektronisk)978-3-319-97628-0
DOI
StatusUdgivet - 2018
Begivenhed15th International Conference on the Simulation of Adaptive Behavior, SAB 2018 - Frankfurt/Main, Tyskland
Varighed: 14. aug. 201817. aug. 2018

Konference

Konference15th International Conference on the Simulation of Adaptive Behavior, SAB 2018
LandTyskland
ByFrankfurt/Main
Periode14/08/201817/08/2018
NavnLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Vol/bind10994 LNAI
ISSN0302-9743

    Fingerprint

Citationsformater

Borijindakul, P., Jinuntuya, N., Drimus, A., & Manoonpong, P. (2018). Cylindrical Terrain Classification Using a Compliant Robot Foot with a Flexible Tactile-Array Sensor for Legged Robots. I From Animals to Animats 15 - 15th International Conference on Simulation of Adaptive Behavior, SAB 2018, Proceedings (s. 136-146). Springer VS. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Bind. 10994 LNAI https://doi.org/10.1007/978-3-319-97628-0_12